JP2005157874A - Actuator control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an actuator control device capable of restoring an actuator to a normal state, when an output of a position sensor becomes abnormal after the actuator is moved by an external force. <P>SOLUTION: When the output of a position sensor 3 becomes abnormal, a state in which the output of the position sensor 3 indicates a normal value is searched for by repeating a process of deciding whether or not the position sensor output is normal by operating the actuator 1 for a certain operation period. When the state that the output of the position sensor 3 indicates the normal value is found, the position of the output portion of the actuator 1 is restored to a predetermined position, and thereby the actuator control is restored to the normal state. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an actuator control device that controls an actuator so that the position of an operation target operated by an actuator driven by a motor matches a target position.

  When a specific operation target is operated by an actuator using a motor as a drive source, a position sensor for detecting the position of the operation target is built in the actuator, and the position of the operation target detected by the position sensor is set. The motor is controlled to match the target position.

  For example, when an actuator using a motor as a drive source for operating a throttle valve of an internal combustion engine is provided and the control is performed to displace the position of the throttle valve to a position designated by an accelerator pedal or an accelerator grip, the actuator A position sensor for detecting the position of the throttle valve from the position of the output portion of the actuator is provided in the actuator, and the actuator is arranged so that the position of the throttle valve detected by the position sensor matches the target position indicated by the accelerator pedal or the accelerator grip. An actuator controller that is controlled is used. This type of control device is disclosed in Patent Document 1, for example.

  Further, in a vehicle having a transmission that switches between a two-wheel drive state and a four-wheel drive state, as shown in Patent Document 2, a shift sleeve that switches between a two-wheel drive state and a four-wheel drive state is provided. The actuator is connected to the shift sleeve provided on the transmission and the motor is used as a drive source, and the actuator is controlled so as to displace the shift sleeve to the target position according to the state of the hand switch that gives a switching command. Thus, the two-wheel drive state and the four-wheel drive state are switched.

Further, in the V-belt type automatic transmission for a vehicle, as shown in Patent Document 3, an actuator for driving a cam for operating the belt clutch mechanism is provided, and the rotational speed of the engine is reduced to the idling rotational speed. At times, the actuator is controlled so as to displace the cam to the position where the belt clutch mechanism is disengaged, so that the transmission of power between the engine and the drive wheels is cut off.
JP-A-6-167237 Japanese Patent Application Laid-Open No. 2002-264685 JP-A-11-165686

  As described above, in the actuator control device that detects the current position of the operation target by the output of the position sensor and controls the detected position to coincide with the target position, the output value of the position sensor is within a normal range. A judgment means is provided to judge whether or not there is an abnormal control when the output value becomes abnormal due to disconnection or short circuit of the output line leading the output of the position sensor to the outside or failure of the position sensor itself. In order to prevent this from happening, the subsequent control is stopped and the position sensor is replaced. When the position sensor is built in the actuator, the position sensor is exchanged together with the actuator.

  However, the output of the position sensor becomes abnormal not only when the output line from the position sensor is disconnected, short-circuited, or when the position sensor fails. When the actuator is displaced to a position exceeding the target position or when the actuator motor is rotated by an external force acting on the operation target, the output of the position sensor deviates from the normal range even if the position sensor is normal. Therefore, as described above, if the position sensor and / or the actuator are replaced uniformly when the output of the position sensor becomes abnormal, it may be replaced even though the actuator and the position sensor are normal. It was uneconomical.

  It is an object of the present invention to detect a position sensor output when the output of the position sensor becomes abnormal due to an excessive rotation of the actuator motor due to a malfunction of the control means or due to an external force rotating the motor. Another object of the present invention is to provide an actuator control device capable of returning to a normal state without exchanging the actuator.

  The present invention includes an actuator including an output unit coupled to an operation target, a drive mechanism that drives the output unit using a motor as a drive source, a position sensor that detects the position of the output unit of the actuator, and a position sensor The present invention is directed to an actuator control device including actuator control means for controlling the actuator so that the position of the output unit to be matched with the target position.

  In the present invention, sensor error determination means for performing error determination when the output value of the position sensor is abnormal, and actuator control by the actuator control means is stopped when the sensor error determination means performs error determination. Searching for a state where the output of the position sensor shows a normal value by performing the process of operating the actuator for a certain operating time in the state and the process of determining whether or not the output of the position sensor showed a normal value When the position sensor output search means and the position sensor output search means find a state where the output of the position sensor shows a normal value, the position of the output part of the actuator is returned to a predetermined position and stopped. The position sensor output is normal due to the actuator position return means that controls the actuator so that the position sensor output search means Position sensor when the state has not been found to show a value is provided and determining sensor abnormality determining means is abnormal.

  As described above, when the abnormality of the position sensor is detected, the actuator is operated to determine whether the output of the position sensor shows a normal value. A position sensor output search means for searching for a state indicating the position of the output portion of the actuator is predetermined when the search means finds a state in which the position sensor generates a normal value output. When the motor is stopped by returning to the position, the position sensor itself is not abnormal because the motor of the actuator is rotated excessively due to the malfunction of the control means or the motor is rotated by an external force. However, when the output of the position sensor becomes abnormal, the position sensor and / or actuator can be returned to normal without replacement. It is possible, it is possible to prevent the inconvenience of being forced to replace the normal position sensor and (or) the actuator.

  When an abnormality occurs in the position sensor itself, it is impossible to find a state in which the output of the position sensor shows a normal value even if a search is performed by the position sensor output search means. Therefore, as described above, if the position sensor output search means does not find a state where the output of the position sensor shows a normal value, it is determined that the position sensor is abnormal. It is possible to accurately detect this.

  In a preferred aspect of the present invention, the actuator is controlled by rotating the motor in one direction for a certain operation time in a state where the control of the actuator by the actuator control unit is stopped when the sensor error determination unit makes an error determination. The first determination process for determining whether or not the position sensor output indicates a normal value by operating the position sensor, and the first determination process does not determine that the position sensor output indicates a normal value. A second for determining whether the output of the position sensor shows a normal value by operating the actuator by rotating the motor in the other direction for an operation time longer than the operation time in the first determination process. The position sensor search means is configured to search for a state in which the output of the position sensor shows a normal value by performing a determination process consisting of the determination processes at least once. Constructed.

  Also in this case, the actuator position return means returns the position of the output part of the actuator to a predetermined position when the position sensor output search means finds a state where the output of the position sensor shows a normal value. And is configured to perform control to stop.

  When the position sensor output search means is configured as described above, the sensor abnormality determination means is a state in which the output of the position sensor shows a normal value even if the determination process performed by the position sensor output search means is executed a set number of times. When the position sensor is not found, the position sensor can be determined to be abnormal.

  As described above, according to the present invention, the position sensor is operated by performing a determination process of determining whether or not the output of the position sensor shows a normal value by operating the actuator when an abnormality of the position sensor is detected. Position sensor output search means for searching for a state in which the output of the actuator shows a normal value is provided, and when the search means finds a state in which the position sensor generates an output of a normal value, the output section of the actuator Since the motor was stopped by returning the position to a predetermined position, due to the malfunction of the control means, the motor of the actuator was excessively rotated or the motor was rotated by an external force, If the position sensor output is abnormal even though the position sensor itself is not abnormal, the position sensor and / or actuator can be It can be returned to the state. Therefore, it is possible to prevent the inconvenience of having to replace the normal position sensor.

  In the present invention, the position sensor itself is out of order because the position sensor output search means determines that the position sensor is abnormal when the position sensor output does not show a normal value. Detection can be performed accurately.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described in detail below with reference to the drawings.
FIG. 1 shows a configuration of an embodiment of the present invention. In FIG. 1, reference numeral 1 includes an output unit coupled to an operation target 2 and a drive mechanism that drives the output unit using a motor as a drive source. Actuators 3 are built in the actuators, and position sensors for detecting the positions of the output parts (output shafts and output levers) of the actuators are arranged so that the positions of the output parts detected by the position sensors 3 coincide with the target positions. Actuator control means for controlling the motor of the actuator 1. In the present invention, the operation object 2 operated by the actuator 1 may be any object as long as it is controlled so as to be matched with the target position.

  The actuator control means 4 includes a deviation calculation unit 6 that calculates a deviation between a target position setting signal generated by the target position setting signal generation unit 5 (a signal that gives a target position of the output unit of the actuator) and an output signal of the position sensor 3. For example, a PID calculation is performed on the deviation calculated by the deviation calculation unit 6 to calculate an operation amount of the actuator necessary to make the deviation zero, and an operation amount calculation unit 7 calculates the operation amount. The drive circuit 8 supplies a drive current to the motor of the actuator 1 so as to move the output portion of the actuator 1 by the amount of operation. In the present embodiment, among the units of the actuator control means 4, the deviation calculation unit 6 and the operation amount calculation unit 7 are configured by a microcomputer, and the drive circuit 8 is configured by a hardware circuit.

  The target position setting signal generation unit 5 has an operation unit (an operation lever, an operation pedal, an operation switch, or the like) that is manually operated, and changes the target position setting signal according to the operation of the operation unit. It is also possible to obtain the target position of the actuator by calculation and generate a signal that gives the obtained target position (usually configured on software in a microcomputer). For example, in a generator driven by an internal combustion engine, an actuator is provided to operate the throttle valve of the internal combustion engine, and the opening of the throttle valve is controlled so as to keep the output voltage of the generator at a set value. In order to maintain the output voltage at a set value against fluctuations in the load of the generator, the target position of the throttle valve is obtained by calculation, and the throttle valve position is made to coincide with the calculated target position. Control is done.

  In the present invention, sensor error determination means 10, position sensor output search means 11, actuator position return means 12, and sensor abnormality determination means 13 are further provided by causing the microcomputer to execute a predetermined program.

  The sensor error determination means 10 determines whether the output value of the position sensor 3 is within a normal range that can be taken during normal control, and the output value of the position sensor deviates from the normal range. It is a means for performing an error determination when it is in an abnormal state.

  The position sensor output search means 11 includes a process of operating the actuator 1 for a certain operating time in a state where the control of the motor by the actuator control means 4 is stopped when the sensor error determination means 10 makes an error determination, and the position sensor. 3 is a means for searching for a state in which the output of the position sensor 3 shows a normal value by performing a process of determining whether or not the output of 3 shows a normal value.

  In this embodiment, the position sensor output search means 11 is operated for a certain operating time in a state where the actuator control by the actuator control means 4 is stopped when the sensor error determination means 10 makes an error determination. A first determination process for determining whether or not the output of the position sensor 3 shows a normal value by operating the actuator by rotating in one direction, and the output of the position sensor 3 is normal by the first determination process. When it is not determined that the value indicates a correct value, the actuator is operated by rotating the motor in the other direction for an operation time longer than the operation time in the first determination process, and the output of the position sensor is normal. A state in which the output of the position sensor shows a normal value is searched by performing at least one determination process including the second determination process for determining whether or not the value is indicated. Configured to.

  In order to search for a state where the output of the position sensor shows a normal value, when the above determination process is repeated, the operation time of the actuator in the new determination process is set to be longer than the operation time in the previous determination process. Set a longer time and gradually expand the search range.

  The actuator position return means 12 returns the position of the output part of the actuator 1 to a predetermined position when the position sensor output search means 11 finds a state in which the output of the position sensor 3 shows a normal value. Means for controlling the motor of the actuator 1 so that the target position setting signal is generated when the position sensor output search means 11 finds a state in which the output of the position sensor shows a normal value. By providing a command to the unit 5, a target position setting signal corresponding to the return position of the output unit of the position sensor is generated from the target position setting signal generating unit, and the actuator control means 4 performs a control operation. can do. In this case, the actuator control means 4 controls the motor of the actuator 1 so that the deviation between the output signal of the position sensor 3 and the target position setting signal (signal for giving the return position of the output part of the actuator) becomes zero, and the actuator 1 output unit is returned to a predetermined position.

  The return position of the output part of the actuator when the position sensor output search means 11 finds a state in which the output of the position sensor shows a normal value can be arbitrarily set, but usually the initial position of the output part of the actuator ( For example, it is preferably set to one limit position of the movement range of the output unit when the position of the operation target 2 is controlled.

  The sensor abnormality determination means 13 is a means for determining that the position sensor 3 is abnormal when the position sensor output search means 11 does not find a state in which the output of the position sensor shows a normal value. Even if this sensor abnormality determination means is executed the number of times that the determination process is set by the position sensor output search means 11, the position sensor is abnormal when the output of the position sensor does not show a normal value. It is configured to determine that there is. When the sensor abnormality determination means 13 determines that the sensor is abnormal, the actuator is inhibited from being controlled and the position sensor is replaced. When the position sensor is built in the actuator, the position sensor may be exchanged together with the actuator.

  FIG. 2 shows a flow chart showing the main part of the algorithm of the task executed by the microcomputer in order to constitute the position sensor output search means 11, the actuator position return means 12 and the sensor abnormality determination means 13.

  The task shown in FIG. 2 is executed when the sensor error determination means 10 performs an error determination (when a position sensor error is detected). In the case of the algorithm shown in FIG. 2, first, in step 1, the actuator control by the actuator control means 4 is stopped. Next, when it is instructed in step 2 that the key switch is turned off to end the operation, the operation time Ti is set to an initial value in step 3, and the actuator motor is set to the set operation time Ti in step 4. The actuator is operated in one direction by driving to rotate in the positive direction (one direction). When the actuator stops, it is determined in step 5 whether the output of the position sensor shows a normal value. As a result, when it is determined that the output of the position sensor is normal, the process proceeds to step 6 to return the position of the output part of the actuator to a predetermined position, and in step 7 the control is terminated and the power is turned off. .

  When it is determined in step 5 that the output of the position sensor is not a normal value, the process proceeds to step 8 and a time obtained by adding the set time Tx to the operation time Ti is set as a new operation time Ti + 1. By rotating the motor of the actuator in the opposite direction (in the other direction) for the set operation time Ti + 1, the actuator is operated in the other direction. When the actuator is stopped, step 10 is executed to determine whether or not the output of the position sensor shows a normal value. As a result, when it is determined that the output of the position sensor indicates a normal value, the process proceeds to step 6 to return the position of the output part of the actuator to a predetermined position. Turn off.

  In the state where the position of the output part of the actuator is returned in step 6 and the control is ended in step 7, the control system is returned to a normal state in which the position sensor 3 generates a normal value detection output. By turning on the switch, the control of the actuator 1 can be resumed without any trouble.

  If it is determined in step 10 that the output value of the position sensor is not a normal value, the process proceeds to step 11 to determine whether or not the number of actuator operations in the process from step 4 has reached the set number. As a result, when it is determined that the number of actuator operations has not reached the set number of times, a time obtained by adding the addition time Ty set to the operation time Ti + 1 in step 12 is set as a new operation time Ti, and then step 4 is performed. Go back and repeat the same process as above. If it is determined in step 11 that the number of actuator operations has reached the set number of times, it is determined in step 13 that the position sensor is abnormal, and subsequent actuator control is prohibited, and then the power is turned off in step 14. To do.

  In the case of the algorithm shown in FIG. 2, when the sensor error determination means makes an error determination in steps 1, 2, 3, 4, 5, 8, 9, 10, 11 and 12, the actuator by the actuator control means In a state where the control is stopped, the actuator is operated by rotating the motor in one direction for a certain operation time Ti to determine whether or not the output of the position sensor shows a normal value. The operation time Ti + longer than the operation time in the first determination process when it is not determined that the output of the position sensor shows a normal value in the process (steps 4 and 5) and the first determination process. It consists of a second determination process (steps 9 and 10) for determining whether or not the output of the position sensor shows a normal value by operating the actuator by rotating the motor in the other direction for 1 time. By performing the determination process at least once, position sensor output search means for searching for a state where the output of the position sensor shows a normal value is configured.

  In addition, when a state in which the output of the position sensor shows a normal value is found in step 6, the actuator position return that controls the actuator so that the position of the output portion of the actuator is returned to a predetermined position and stopped. Means are configured. Further, Steps 11 and 13 constitute sensor abnormality determination means for determining that the position sensor is abnormal when a state in which the output of the position sensor shows a normal value is not found.

  In the task shown in FIG. 2, when the determination process is repeated, the position sensor is operated while gradually expanding the movement range of the actuator by setting the operation time in the new determination process to be longer than the previous operation time. Is searched for a state in which the output of A indicates a normal value. For example, as shown in FIG. 3, when the output portion of the actuator stops at the position Po in step 1, the operation time is set to T1 in step 3 of FIG. It is determined whether or not the output of the position sensor shows a normal value. If the output of the position sensor does not indicate a normal value as a result of this determination, the operation time is set to T2 in step 8 of FIG. It is determined whether it is shown. If the result of this determination is that the output of the position sensor does not show a normal value, the output time of the actuator is moved to the position P3 at step 12 with the operating time T3, and the output of the position sensor shows a normal value even at this position. If not, in step 8, the operation time is set to T4 and the actuator output section is moved to the position P4. In this way, the determination is repeated while gradually expanding the movement range of the output portion of the actuator. Even if the number of actuator operations reaches the set number (even if the determination is repeated for the set number of times), if the output of the position sensor does not show a normal value, it is determined that the position sensor is abnormal and the subsequent actuator control Is prohibited.

  In the above example, when searching for a state where the output of the position sensor shows a normal value, the actuator is operated for a predetermined operating time. However, when a pulse motor is used as the motor for driving the actuator, The determination may be repeated by gradually setting the number of drive pulses to be given to the motor and gradually expanding the movement range of the output part of the actuator.

It is the block diagram which showed the structure of one Embodiment of this invention. 2 is a flowchart showing an example of a task algorithm executed by a microcomputer in the embodiment of FIG. 1. It is explanatory drawing for demonstrating an example of the change of the operating time of an actuator at the time of searching the state in which the determination process is repeated in the embodiment of this invention and the output of a position sensor shows a normal value.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Actuator 2 Operation object 3 Position sensor 4 Actuator control means 5 Target position setting signal generation part 10 Sensor error determination means 11 Position sensor output search means 12 Actuator position return means 13 Sensor abnormality determination means

Claims (2)

An actuator including an output unit coupled to the operation target and a drive mechanism that drives the output unit using a motor as a drive source, a position sensor that detects a position of the output unit of the actuator, and a position sensor that detects the position An actuator control device comprising actuator control means for controlling the actuator so as to match the position of the output unit with a target position;
Sensor error determination means for performing error determination when an output value of the position sensor is abnormal;
When the sensor error determination means makes an error determination, the actuator control means stops the control of the actuator and the actuator is operated for a certain operation time, and the position sensor output is a normal value. Position sensor output search means for searching for a state in which the output of the position sensor shows a normal value by performing a process of determining whether or not
When the position sensor output search means finds a state where the output of the position sensor shows a normal value, the position of the output portion of the actuator is returned to a predetermined position and stopped. Actuator position return means for controlling
Sensor abnormality determination means for determining that the position sensor is abnormal when the position sensor output search means does not find a state where the output of the position sensor shows a normal value;
An actuator control device comprising: An actuator including an output unit coupled to the operation target and a drive mechanism that drives the output unit using a motor as a drive source, a position sensor that detects a position of the output unit of the actuator, and a position sensor that detects the position An actuator control device comprising actuator control means for controlling the actuator so as to match the position of the output unit with a target position;
Sensor error determination means for performing error determination when an output value of the position sensor is abnormal;
The actuator is operated by rotating the motor in one direction for a certain operation time in a state where the actuator control by the actuator control unit is stopped when the sensor error determination unit makes an error determination. And determining whether or not the output of the position sensor indicates a normal value, and the output of the position sensor does not indicate a normal value by the first determination process. Whether the output of the position sensor shows a normal value by operating the actuator by rotating the motor in the other direction for an operation time longer than the operation time in the first determination process. A position for searching for a state in which the output of the position sensor indicates a normal value by performing a determination process including a second determination process for determination at least once. And capacitors output search means,
When the position sensor output search means finds that the output of the position sensor shows a normal value, the position of the output part of the actuator is returned to a predetermined position and stopped. Actuator position return means for controlling
The position sensor is abnormal when the position sensor output does not show a normal value even when the number of actuator operations in the determination process performed by the position sensor output search means reaches a set number. Sensor abnormality determining means for determining
When the determination process is repeated, the operation time in the new determination process is set longer than the previous operation time,
An actuator control device.

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